Apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm

ABSTRACT

An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm including a first frame and a second frame, a first shaft rotatably connected to the first frame and arranged for rotation about a first axis of rotation, a lever having a fulcrum, wherein the fulcrum is arranged within the second frame and arranged for pivoting about a second axis of rotation, wherein the second axis of rotation is co-planar with the first axis of rotation, wherein the second frame is rotatably connected to the first frame, the second frame arranged for rotation with respect to the first frame about a third axis of rotation, wherein the third axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the first, second, and third axes have single point of intersection.

FIELD OF THE INVENTION

The present invention relates generally to a lever that produces a circular and simultaneous angular rotation, specifically producing the circular and simultaneous angular rotation from strictly rotational movement.

BACKGROUND OF THE INVENTION

A lever is a simple machine used to lift and move heavy materials with a small amount of force. Typically, a lever consists of a beam or a rod pivoted at a hinge or a fulcrum. This orientation creates a mechanical advantage by allowing the amplification of an input force to provide a greater output force. This load to effort ratio allows the system to decrease the effort it takes to pick up a load. Thus, a lever enables one to do work with minimal effort.

The primary focus of a lever is to amplify physical force to move or lift objects. At one end of the lever, a large force is exerted over a small distance, whereas at the other end of a lever, only a small force is exerted over a greater distance. Accordingly, levers are split into three different classifications. In a class 1 lever, the fulcrum is placed between the effort and the load so that the movement of the load is in the opposite direction of the movement of the effort. Class 1 levers are both force multiplying and distance multiplying. Further, in a class 2 lever, the load is placed between the effort and the fulcrum so that the movement of the load is in the same direction as the effort. Class 2 levers are strictly force multiplying. Even further, in a class 3 lever, the effort is between the load and the fulcrum so that the effort and the load are in the same direction. Class 3 levers are strictly distance multiplying.

Typically, the motion of a lever is limited to movement in the X-axis and the Y-axis. This position directs movement in the rightward, leftward, upward, and downward directions. Thus, conventional levers are limited to linear movement.

Thus, there is a long-felt need for a lever system with broader movement capabilities. Further, there is a long-felt need for a lever that can rotate simultaneously about at least two separate axes to produce a circular motion at both ends of the lever.

SUMMARY OF THE INVENTION

The present invention broadly comprises an apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm comprising, a first frame, a second frame, a first shaft rotatably connected to the first frame and arranged for rotation about a first axis of rotation, a heim joint fixedly secured to a distal end of the first shaft, a lever having a fulcrum, the lever having a first end and a second end, where a distance between the fulcrum and the first end is less than a distance between the fulcrum and the second end, the first end of the lever rotatably connected to the heim joint, wherein the fulcrum is arranged within the second frame and arranged for pivoting about a second axis of rotation, wherein the second axis of rotation is co-planar with the first axis of rotation, wherein the second frame is rotatably connected to the first frame, the second frame arranged for rotation with respect to the first frame about a third axis of rotation, wherein the third axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the first, second, and third axes have single point of intersection.

An alternative embodiment of the present invention provides an apparatus for translating movement of a rotating shaft to rotational movement in three dimensions of a lever arm comprising, a first frame, a second frame rotatably connected to the first frame, a third frame rotatably connected to the first frame, a fourth frame rotatably connected to the third frame, a first shaft rotatably connected to the first frame and arranged for rotation about a first axis of rotation, a heim joint fixedly secured to a distal end of the first shaft, a lever having a fulcrum, the lever having a first end and a second end, where a distance between the fulcrum and the first end is less than a distance between the fulcrum and the second end, the first end of the lever rotatably connected to the heim joint, wherein the fulcrum is arranged within the second frame and arranged for pivoting about a second axis of rotation, wherein the second axis of rotation is co-planar with the first axis of rotation, wherein the second frame is rotatably connected to the first frame, the second frame arranged for rotation with respect to the first frame about a third axis of rotation, wherein the third axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the first, second, and third axes have a single point of intersection, a second shaft rotatably connected to the fourth frame and rotatably connected to the first shaft via a universal joint, the third frame arranged for rotation with respect to the first frame about a fourth axis of rotation, wherein the fourth axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the fourth frame is arranged for rotation with respect to the third frame about a fifth axis of rotation, wherein the fifth axis of rotation is arranged perpendicularly from the fourth axis of rotation, wherein the fifth axis is co-planar with the first axis of rotation, wherein the second shaft is arranged for rotation about a sixth axis of rotation, wherein the first, fourth, fifth, and sixth axes of rotation have a single point of intersection.

A primary object of the invention is to provide a lever that is not limited to linear movement.

Another object of the invention is to provide a lever that may be positioned adjacently with like-levers to generate a walking machine, specifically where leg-like fixtures are attached to an end of a lever arm and are arranged to propel the walking machine via a tripod-like gait.

These and other objects, features and advantages of the invention will become readily apparent to one having ordinary skill in the art upon study of the following detailed description in view of the drawings and appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments are disclosed, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, whereas:

FIG. 1 illustrates a front perspective view of the present invention;

FIG. 2 illustrates a front perspective view of the present invention shown in FIG. 1 , specifically showing the third frame of the present invention in a rotated position to reveal the universal joint connection;

FIG. 3 illustrates a side perspective view of the present invention shown in FIG. 1 ;

FIG. 4 illustrates an exploded view of the first frame, the second frame, the third frame, and their respective securement means of the present invention shown in FIG. 1 ;

FIG. 5 illustrates a partial exploded view of the first frame, the second frame, and the first arm of the present invention shown in FIG. 1 ;

FIG. 5A is a detailed view of 90° connector 70;

FIG. 5B is a detailed view of T-swivel connector 80;

FIG. 6 illustrates a partial exploded view of the first frame, the third frame, the fourth frame, the universal joint, and the crank, of the present invention shown in FIG. 1 ;

FIG. 7A illustrates a perspective view of the first frame, the second frame, and the first arm of the present invention where the arm is in an upward position, relative to an axis;

FIG. 7B illustrates a perspective view of the present invention shown in FIG. 7A where the arm is in a leftward position, relative to an axis;

FIG. 7C illustrates a perspective view of the present invention shown in FIG. 7A where the arm is in a downward position, relative to an axis;

FIG. 7D illustrates a perspective view of the present invention shown in FIG. 7A where the arm is in a rightward position, relative to an axis;

FIG. 8 illustrates a front perspective view of support frame 10, first swing frame 20, and second swing frame 22 illustrating various axes of rotation of the aforementioned components; and,

FIG. 9 illustrates a perspective view of apparatuses 110, 112, and 114 joined together and connected to a gear box.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

At the outset, it should be appreciated that like reference numbers on different drawing figures represent identical structural elements. It should also be appreciated that, while a number of different embodiments and variations of the present invention are shown in the various drawings, the invention as claimed is not intended to be limited to these specific embodiments, as the claims define a broader invention that can take many different shapes and structures. Also, the adjectives, “top”, “bottom”, “right”, “left”, and their derivatives, in the description herebelow, refer to the perspective of one facing the invention as shown in the figure under discussion.

Furthermore, it should be understood that this disclosure is not limited to the particular methodology, materials and modifications described and as such may, of course, vary. It is also understood that the terminology used herein is for the purpose of describing particular aspects only and is not intended to limit the scope of the claims.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this disclosure pertains. It should be understood that any methods, devices, or materials similar or equivalent to those described herein can be used in the practice or testing of the example embodiments.

It should be appreciated that the term “substantially” is synonymous with terms such as “nearly,” “very nearly,” “about,” “approximately,” “around,” “bordering on,” “close to,” “essentially,” “in the neighborhood of,” “in the vicinity of,” etc., and such terms may be used interchangeably as appearing in the specification and claims. It should be appreciated that the term “proximate” is synonymous with terms such as “nearby,” “close,” “adjacent,” “neighboring,” “immediate,” “adjoining,” etc., and such terms may be used interchangeably as appearing in the specification and claims.

It should also be understood that when referencing an axis, “upward” means along the Y-axis in the positive direction, “downward” means along the Y-axis in the negative direction, “rightward” or “right” means along the X-axis in the positive direction, and “leftward” or “left” means along the X-axis in the negative direction. For example, an “upward right direction”, when compared to an axis, means the point of direction is located on an axis with a positive X-value and a positive Y-value.

Adverting now to the drawings, the following description should be taken in view of FIGS. 1-4 . FIG. 1 illustrates a front perspective view of the present invention, while FIG. 2 illustrates another front perspective view of the present invention where the third frame is rotated. FIG. 3 illustrates a side perspective view of the present invention shown in FIGS. 1 and 2 . Circular-angular lever device 100 comprises support frame 10 that specifically includes first support arm 12, second support arm 14, and connecting arm 16. Connecting arm 16 has two ends that are fixedly secured to first support arm 12 and second support arm 14. Connecting arm 16 is exemplarily shown as a vertical member between first support arm 12 and second support arm 14. Connecting arm 16 also includes through-bore 81 c (shown in FIG. 4 ) that is preferably positioned in a substantially central location, discussed further infra. First support arm 12 includes two through-bores 40 a and 42 a, respectively, arranged at opposite terminating ends (shown and discussed further in view of FIG. 4 infra). Second support arm 14 includes two through-bores 44 a and 46 a, respectively, arranged at opposite terminating ends (shown and discussed further in view of FIG. 4 infra). Through-bores 40 a and 42 a of first support arm 12 are arranged to each accept pin 40 and pin 42, respectively. Through-bores 44 a and 46 a of second support arm 14 are arranged to each accept pin 44 and pin 46, respectively (shown and discussed further in view of FIG. 4 infra). Pin 40 of first support arm 12 and pin 44 of second support arm 14 are both longer in length than their respective through-bores, leaving a section of pin 40 and pin 44 extending outwardly from their respective through-bores. A lower section of pin 40 extends downwardly external of through-bore 40 a to rotatably engage through-bore 40 b of first swing frame 20 and an upper section of pin 44 extends upwardly external of through-bore 44 a to rotatably engage through-bore 44 b of first swing frame 20.

Also as shown in FIG. 4 , first swing frame 20 also includes a left through-bore 50 a and a right through-bore 52 a arranged to accept pin 50 (shown in FIG. 5 ) and pin 52 (shown in FIG. 5 ), respectively. Pin 50 and pin 52 are both longer in length than through-bores 50 a and 52 of first swing frame 20, leaving a section of pin 50 and pin 52 extending therefrom. The sections of pin 50 and pin 52 that extend from through-bores 50 a and 52 are arranged to engage T-swivel connector 82, rotatably securing T-swivel connector 82 to first swing frame 20, discussed further, infra. T-swivel connector 82 is a fulcrum.

Through-bore 81 c of support arm 16 of support frame 10 is arranged to accept first rotational shaft 81 (shown in FIG. 5 ), which leaves a section of the first rotational shaft exposed in a direction towards first swing frame 20. The exposed section of first rotational shaft 81 is further arranged to engage 90° connector 70 therein. Socket connector 72 comprises spherical connector 74. Socket connector 72 engages 90° connector 70 therein, and is secured to 90° connector 70 via first lock nut 76 and second lock nut 78. Seated within socket connector 72 is spherical connector 74 which may pivot freely within socket connector 72. Socket connector 72 and spherical connector 74 in a preferred embodiment comprise a heim or rose joint.

Second end 81 b of first rotational shaft 81 is arranged to engage universal joint 64. Universal joint 64 is a universal joint mechanism or a Hooke's coupling that allows rotatory movement from each respective end allowing for various relative angles and displacements between the driver (i.e., crank 60) and the follower (i.e., first rotational shaft 81). First rotational shaft 81 connects universal joint 64 to 90° connector 70 and second rotational shaft 83 connects universal joint 64 to crank 60. Specifically, first end 83 a of second rotational shaft 83 is arranged to engage universal joint 64 and second end 83 b of second rotational shaft 83 is arranged to engage crank 60 (further illustrated in FIG. 6 ). Universal joint 64 includes first pin through-bore 66 and second pin through-bore 68 that are both arranged to accept a threaded securement pin that is substantially identical to threaded pin 90 and pin through-bore 90 a illustrated in FIG. 4 . First pin through-bore 66 accepts a threaded pin that frictionally secures the second rotational shaft within universal joint 64 and second pin through-bore 68 accepts a threaded pin that frictionally secures the first rotational shaft within universal joint 64. Universal joint 64 is arranged to move with second swing frame 22 and crank frame 30. Second swing frame 22 is arranged to rotate about pin 42 and pin 46 within swing frame 10. Crank frame 30 is arranged to rotate about pin 54 and pin 56 within second swing frame 22. Crank 60 includes pin through-bore 61 that is arranged to accept a threaded pin that is substantially identical to threaded pin 90 and pin through-bore 90 a illustrated in FIG. 4 and is further arranged to frictionally secure the second rotational shaft within crank 60. Crank 60 also includes handle 62. It should be appreciated that crank 60 is merely exemplary and that the second rotational shaft could be secured to a motor shaft that would motorize the movement of circular-angular lever device 100.

Lever arm 80 has two terminating ends, where one of the terminating ends is arranged to engage the through-bore of spherical connector 74. Lever arm 80 is arranged to be seated within T-swivel connector 82. T-swivel connector 82 also is arranged to accept pin 50 and pin 52 (via through-bores 82 d and 82 c, respectively, shown in FIG. 5B) that are engaged with first swing frame 20 via through-bores 50 a and 52 a, respectively, thereby rotatably securing T-swivel connector 82 and Lever arm 80 therein to first swing frame 20. Lever arm 80 is secured within T-swivel connector 82 via first shaft collar 84 and second shaft collar 86.

It should be appreciated that T-swivel connector 82 is a fulcrum, specifically a fulcrum that is arranged to move a lever, i.e., lever arm 80.

FIG. 4 is an exploded view of support frame 10, first swing frame 20, second swing frame 22, and their respective securement means of circular-angular lever 100 shown in FIGS. 1-3 . First support arm 12 of support frame 10 has first pin through-bore 40 a and second through-bore 42 a arranged at opposite ends of first support arm 12. Second support arm 14 of support frame 10 has first pin through-bore 44 a and second pin through-bore 46 a of second support arm 14 arranged at opposite ends of second support arm 14. First swing frame 20 includes first pin through-bore 40 b and third pin through-bore 44 b of first swing frame 20, arranged on the top and bottom of first swing frame 20, respectively. Second swing frame 22 includes first pin through-bore 42 b and second pin through-bore 46 b of second swing frame 22, arranged on the top and bottom of second swing frame 22, respectively. Each of pin through-bores 40 a, 42 a, 44 a, and 46 a of support frame 10 include threaded through-bores 90 a, 92 a, 94 a, and 96 a, respectively. Threaded through-bores 90 a, 92 a, 94 a, and 96 a are all arranged to accept threaded pins 90, 92, 94, and 96.

Pin 40 includes groove 41, which is a cut-out channel of pin 40, preferably located proximate to first end 40′ of pin 40. When pin 40 is engaged within through-bore 40 a, exposed length L of pin 40, located at second end 40″ of pin 40, protrudes from the bottom of through-bore 40 a, i.e., protrudes in the direction towards through-bore 44 a. To secure pin 40 within through-bore 40 a, threaded pin 90 is threaded into threaded through-bore 90 a such that end 90′ of threaded pin 90 will pass through threaded through-bore 90 a and will be seated within groove 41 of pin 40, thereby securing pin 40 within through-bore 40 a. Exposed length L of pin 40 is arranged to engage through-bore 40 b of first swing frame 20.

It should be appreciated that pins 40, 42, 44, 46, 50, 52, 54, and 56 are all secured within their respective through-bores in the same fashion described above. It should also be appreciated that although not illustrated, pins 50, 52, 54, and 56 all comprise a groove that is substantially identical to groove 41 or alternatively, comprise a depression or channel. It should be further appreciated that through-bores 50 a, 52 a, 54 b, and 56 b (54 b and 56 b are illustrated in FIG. 6 ) all comprise a perpendicularly arranged threaded through-bore that is substantially identical to threaded through-bore 90 a. It should still be further appreciated that the perpendicularly arranged threaded through-bore that are substantially identical to thread through-bore 90 a of through-bores 50 a, 52 a, 54 b, and 56 b are all arranged to accept a threaded pin that is substantially identical to threaded pin 90, and those threaded pins have an end substantially identical to end 90′ of pin 90 that are all arranged to engage a groove that is substantially identical to groove 41 or alternatively, comprise a depression or channel arranged on pins 50, 52, 54, and 56 b.

To secure first swing frame 20 to support frame 10, pin 40 is inserted within pin through-bore 40 a and pin through-bore 40 b. Pin 40 is secured within pin through-bore 40 a via threaded pin 90 within pin through-bore 90 a such that end 90′ of pin 90 is engaged within groove 41 of pin 40. Threaded pins 92, 94, and 96 all engage a groove of pins 42, 44, and 46, respectively, in the same manner as described above in view of groove 41 of pin 40 and threaded pin 90. Pin 44 is inserted within pin through-bore 44 a and pin through-bore 44 b. Pin 44 is secured within pin through-bore 44 a via threaded pin 94 within pin through-bore 94 a such that pin 94 is engaged within the groove located on the outside surface of pin 44. Swing frame 20 freely rotates about pin 40 and 44 when secured to support frame 10. To secure second swing frame 22 to support frame 10, pin 42 is inserted within pin through-bore 42 a and pin through-bore 42 b. Pin 42 is secured within pin through-bore 42 a via threaded pin 92 within pin through-bore 92 a such that pin 92 is engaged within the groove located on the outside surface of pin 42. Pin 46 is inserted within pin through-bore 46 a and pin through-bore 46 b. Pin 46 is secured within pin through-bore 46 a via threaded pin 96 within pin through-bore 96 a such that pin 96 is engaged within the groove located on the outside surface of pin 46. Second swing frame 22 freely rotates about pin 42 and 46 when secured to support frame 10.

It should be appreciated that the method of securement described in view of pins 40, 42, 44, 46 being secured via threaded pins 90, 92, 94, and 96 engaging within threaded through-bores 90 a, 92 a, 94 a, and 96 a, supra, is applied to various other components described in view of FIGS. 5 and 6 , infra. One with ordinary skill in the art would ascertain that the preferred method of securement of various components of the present invention comprises: a frictional securement of a threaded pin arranged to engage a threaded through-bore therein that provides for an end of the threaded pin to exit the threaded through-bore through an opening arranged oppositely of an opening where the pin is inserted. The threaded pin is tightened to frictionally secure the desired component with the end of the threaded pin that passes through the through-bore which then contacts the component's outside surface or a groove, as described supra and shown in FIG. 4 .

For example, in view of FIGS. 5 and 5A, first rotational shaft 81 engages through-bore 70 a of 90° connector 70. To secure first rotational shaft 81 within through-bore 70 a, a threaded pin that is substantially similar to threaded pin 90, engages threaded through-bore 70 c that opens into through-bore 70 a of 90° connector 70. When a threaded pin is engaged to threaded through-bore 70 c of 90° connector 70, tightening the threaded pin will frictionally press the end of the threaded pin against a depression and/or groove located on an outside surface of first rotational shaft 81, securing first rotational shaft 81 within through-bore 70 a of 90° connector 70. It should be appreciated that first rotational shaft 81, second rotational shaft 83, and lever arm 80 all comprise at least one depression and/or a groove that is arranged to engage an end of a threaded pin, that is engaged to a threaded through-bore of a component, to secure at least one component to the first rotational shaft 81, second rotational shaft 83, and/or lever arm 80, or alternatively, to secure the first rotational shaft 81, second rotational shaft 83, and lever arm 80 within a component and/or through-bore. In the following description, the above-described method of securement will be referenced as “threaded pin lock”, shown in FIG. 4 and described supra.

The following description should be taken in view of FIGS. 5, 5A, and 5B. FIG. 5 is an exploded view of support frame 10, first swing frame 20, and their respective securement means of circular-angular lever 100 shown in FIGS. 1-3 . FIG. 5A is a detailed view of 90° connector 70. FIG. 5B is a detailed view of T-swivel connector 82. First swing frame 20 engages support frame 10 via pin 40 and pin 44, in the manner described above in view of FIG. 4 . Connecting arm 16 includes through-bore 81 c which is preferably centrally arranged within connecting arm 16. Through-bore 81 c is arranged to accept first rotational shaft 81 therein. First rotational shaft 81 includes first end 81 a, wherein first end 81 a of first rotational shaft 81 is arranged to engage through-bore 70 a arranged on 90° connector 70. First rotational shaft 81 is frictionally secured within through-bore 70 a of 90° connector 70 via a threaded pin lock. 90° connector 70 also includes through-bore 70 b which is perpendicularly arranged in relation to through-bore 70 a of 90° connector 70. Socket connector 72 includes threaded shaft 72 a that is arranged to fit within through-bore 70 b of 90° connector 70 such that threaded shaft 72 a of socket connector 72 is exposed through the bottom opening of the through-bore of 90° connector 70. Threaded shaft 72 a is secured within the through-bore of 90° connector 70 via first lock nut 76 and second lock nut 78. It should be appreciated that only one lock nut may be needed to secure threaded shaft 72 a of socket connector 72 within 90° connector 70.

Once first swing frame 20 is engaged to support frame 10, T-swivel connector 82 may be engaged to first swing frame 20. T-swivel connector 82 best resembles a 4-way pipe cross connector, specifically, connector 82 forms two tubes, lever arm tube 82′ and connection tube 82″, which are integrally and perpendicularly connected at a substantially central position of each respective tube. In a preferred embodiment, lever arm tube 82′ is longer than connection tube 82″. Connection tube 82″ of T-swivel connector 82 is arranged to accept pin 50 and pin 52 within opposite openings, opening 82 d and opening 82 c, respectively. Pin 50 is arranged to engage through-bore 50 a of first swing frame 20 therein and engage opening 82 d of T-swivel connector 82 where pin 50 is secured via threaded pin lock within opening 82 d of connection tube 82″. Pin 52 is arranged to engage through-bore 52 a of first swing frame 20 therein and engage opening 82 c of T-swivel connector 82 where pin 52 is secured via threaded pin lock within opening 82 c of connection tube 82″. When pin 50 and pin 52 are engaged to first swing frame 20 and T-swivel connector 82, T-swivel connector 82 may rotate about pin 50 and pin 52 within first swing frame 20.

Lever tube 82′ of T-swivel connector 82 is arranged to accept rotation end 80 b of lever arm 80 therein. Rotation end 80 b engages spherical connector 74 of socket connector 72. It should be appreciated that spherical connector 74 is preferably a rose joint where spherical connector 74 freely rotates within socket connector 72, oppositely arranged in relation to threaded shaft 72 a. Located on an outside surface of lever arm 80 and preferably abutting opening 82 a of lever arm tube 82′ of T-swivel connector 82 is first shaft collar 84. First shaft collar 84 is secured to lever arm 80 via threaded pin lock. Located on an outside surface of lever arm 80 and preferably abutting opening 82 b of lever arm tube 82′ of T-swivel connector 82 is second shaft collar 86. Second shaft collar 86 is secured to lever arm 80 via threaded pin lock. First shaft collar 84 and second shaft collar 86 collectively secure lever arm 80 within lever arm tube 82′ of T-swivel connector 82 and rotation end 80 b within spherical connector 74 of socket connector 72. Lever arm 80 may freely rotate within T-swivel connector 82 and within spherical connector 74 of socket connector 72, such that lever arm 80 in an alternative embodiment may include an apparatus to provide for independent rotation of lever arm 80 therein. Alternatively, lever arm 80 within T-swivel connector 82 and within spherical connector 74 of socket connector 72 b may be fixed to prevent rotation by T-swivel connector 82, i.e., threaded pin lock.

FIG. 6 is an exploded view of support frame 10, second swing frame 22, crank frame 30 and their respective securement means of circular-angular lever 100 shown in FIGS. 1-3 . First end 81 a of first rotational shaft 81 is secured within through-bore 70 a of 90° connector 70 and is further arranged to sit within through-bore 81 c of connecting arm 16, such that second end 81 b of first rotational shaft 81 is oriented in a direction opposite of 90° connector 70. Second swing frame 22 connects to support frame 10 via pins 42 and 46 in the manner described in view of FIG. 4 , supra. Second swing frame 22 also includes pin through-bores 54 a and 56 a. Pin through-bores 54 a and 56 a are preferably arranged colinearly with each other and further arranged perpendicularly in relation to pin through-bores 42 b and 46 b. To secure crank frame 30 to second swing frame 22, pin 54 is inserted into and through pin through-bore 54 b of crank frame 30 and into pin through-bore 54 a of second swing frame. Pin 54 is secured within pin through-bores 54 b and 54 a via threaded pin lock arranged about pin through-bore 54 b of crank frame 30. Pin 56 is also inserted into and through pin through-bore 56 b of crank frame 30 and into pin through-bore 56 a of second swing frame 22. Pin 56 is secured within pin through-bores 56 b and 56 a via threaded pin lock arranged about pin through-bore 56 b of crank frame 30. When crank frame 30 is secured to second swing frame 22 it may rotate about pins 54 and 56.

Universal joint 64 has two apertures, first connection aperture 81 d and second connection aperture 83 c, whereas first connection aperture 81 d is arranged to accept second end 81 b of first rotational shaft 81 and second connection aperture 83 c is arranged to accept first end 83 a of second rotational shaft 83. First connection aperture 81 d includes threaded pin aperture 68 (shown in FIG. 3 ) which secures first rotational shaft 81 within first connection aperture 81 d via threaded pin lock. Second connection aperture 83 c includes threaded pin aperture 66 (shown in FIG. 3 ) which secures second rotational shaft 83 within second connection aperture 83 c via threaded pin lock. As described in view of FIG. 3 , supra, universal joint 64 is a universal joint mechanism or a Hooke's coupling that allows rotatory movement from each respective end allowing for various relative angles and displacements between the driver (i.e., second rotational shaft 83 secured to crank 60) and the follower (i.e., first rotational shaft 81). It should be appreciated that second rotational shaft 83 does not need to be connected through connection through-bore 83 d of crank frame 30 to crank 60. In alternative embodiments, second rotational shaft 83 may be connected directly to a motor or a structure like crank 60. An illustrative example is shown in FIG. 9 . Universal joint 64 allows a driver (exemplarily shown as second rotational shaft 83) to be positioned in various locations to drive the follower's (exemplarily shown as first rotational shaft 81) rotational movement of first rotational shaft 81 to then move lever arm 80.

The following description should be taken in view of FIGS. 1-7D. FIGS. 7A through 7D illustrate the rotational-angular movement produced by circular-angular lever 100. It should be appreciated that FIGS. 7A through 7D do not illustrate second swing frame 22, universal joint 64, second rotational shaft 83, crank frame 30, or crank 60, as these additional components in a preferred embodiment allow for multi-directional positioning of a driver relative to a follower (i.e., first rotational shaft 81). It should also be appreciated that the driver is any component that is engaged to second end 81 b of first rotational shaft 81. Irrespective of the position of the driver, the movements, and functions of circular-angular lever 100, illustrated in FIGS. 7A through 7D, remain the same. Each of the figures includes a representative X, Y, Z axis to illustrate the positional movements of lever arm 80 as first rotational shaft 81 is rotated, where the Z-axis is positioned substantially colinear with a center point of first rotational shaft 81, the X-axis is substantially perpendicular to first support arm 12 and second support arm 14 of support frame 10, and the Y-axis is substantially parallel to connection arm 16 of support frame 10.

FIG. 7A illustrates lever arm 80 of circular-angular lever 100 in an upward position. Specifically, T-swivel connector 82 is tilted in a manner where first end 80 a of lever arm 80 is positioned in a positive direction along the Y-axis and is at zero (0) along the X-axis, that is, first end 80 a of lever arm 80 is angled upwardly and the opposite end of lever arm 80 is angled downwardly within socket connector 72.

FIG. 7B should be taken in view of the position of lever arm 80 of circular-angular lever 100 shown in FIG. 7A. FIG. 7B illustrates lever arm 80 of circular-angular lever 100 in a rightward oriented position relative to FIG. 7A. Specifically, T-swivel connector 82 is positioned in a substantially parallel position relative to first support arm 12 and second support arm 14 of support frame 10, first swing frame 20 is rotated in a rightward oriented position relative to FIG. 7A, and 90° connector 70 is rotated in a leftward oriented position relative to FIG. 7A. First end 80 a of lever arm 80 is positioned in a positive direction along the X-axis and is at zero (0) along the Y-axis, that is, first end 80 a of lever arm 80 is angled rightwardly and the opposite end of lever arm 80 is angled leftwardly within socket connector 72. FIG. 7B illustrates how a 90° clockwise rotation of first rotational shaft 81 turns 90° connector 70 while simultaneously pivoting first swing frame 20.

FIG. 7C should be taken in view of the positions of lever arm 80 of circular-angular lever 100 shown in FIGS. 7A and 7B. FIG. 7C illustrates lever arm 80 of circular-angular lever 100 in a downwardly oriented position relative to FIG. 7A. Specifically, T-swivel connector 82 is tilted in a manner where first end 80 a of lever arm 80 is positioned in a negative direction along the Y-axis and is at zero (0) along the X-axis, that is, first end 80 a of lever arm 80 is angled downwardly and the opposite end of lever arm 80 is angled upwardly within socket connector 72. FIG. 7C illustrates how a 180° clockwise rotation of first rotational shaft 81 turns 90° connector 70 and also pivots first swing frame 20 from a neutral position (FIG. 7A) to a pivoted position (FIG. 7B) back to a neutral position in FIG. 7C.

FIG. 7D should be taken in view of the positions of lever arm 80 of circular-angular lever 100 shown in FIGS. 7A-7C. FIG. 7D illustrates lever arm 80 of circular-angular lever 100 in a leftward oriented position relative to FIG. 7A. Specifically, T-swivel connector 82 is positioned in a substantially parallel position relative to first support arm 12 and second support arm 14 of support frame 10, first swing frame 20 is rotated in a leftward oriented position relative to FIG. 7A, and 90° connector 70 is rotated in a rightward oriented position relative to FIG. 7A. First end 80 a of lever arm 80 is positioned in a negative direction along the X-axis and is at zero (0) along the Y-axis, that is, first end 80 a of lever arm 80 is angled leftwardly and the opposite end of lever arm 80 is angled rightwardly within socket connector 72. FIG. 7D illustrates how a 270° clockwise rotation of first rotational shaft 81 turns 90° connector 70 while simultaneously pivoting first swing frame 20 from a neutral position (FIG. 7A) to a pivoted position (FIG. 7B), back to a neutral position (FIG. 7C), and back to a pivoted position in FIG. 7D.

The following description should be taken in view of the preceding Figures and their corresponding descriptions, supra. FIG. 8 is a front perspective view of support frame 10, first swing frame 20, and second swing frame 22 specifically illustrating various axis of rotation provided by the present invention. Through-bore 81 c has a center point that defines first axis of rotation A1. Through-bores 50 a and 52 a of first swing frame 20 have colinearly arranged center points that define second axis of rotation A2. Through-bores 40 a and 44 a of support frame 10 and through bores 40 b and 44 b of first swing frame 20 all have colinearly arranged center points that define third axis of rotation A3. Through-bores 42 a and 46 a of support frame 10 and through bores 42 b and 46 b of second swing frame 22 all have colinearly arranged center points that define fourth axis of rotation A4. Through-bores 54 a and 56 a have colinearly arranged center points that define fifth axis of rotation A5. Although not shown in FIG. 8 , it should be appreciated that connection through-bore 83 d of crank frame 30 has a center point that defines a sixth axis of rotation.

First axis of rotation Al, second axis of rotation A2, and third axis of rotation A3 all intersect at first intersection i1. First axis of rotation A1, fourth axis of rotation A4, and fifth axis of rotation A5 all intersection at second intersection i2. Additionally, first axis of rotation A1, fourth axis of rotation A4, fifth axis of rotation A5, and a sixth axis of rotation defined by the center point of connection through-bore 83 e of crank frame 30 would also all intersection at second intersection i2.

The following description should be taken in view of FIGS. 1 through 8 . In order to produce the circular-angular rotation of lever arm 80, swing frame 20, T-swivel connector 82, spherical connector 74 of socket connector 72, and 90° connector 70 all move collectively relative to the rotation of first rotational shaft 81, as described supra. First swing frame 20 is arranged to rotate about pins 40 and 44 within support frame 10, T-swivel connector 82 is arranged to rotate about pins 50 and 52 within first swing frame 20, spherical connector 74 is arranged to rotate within socket connector 72, and 90° connector 70 is arranged to rotate in concert with first rotational shaft 81 within support frame 10.

It should also be appreciated that the movements described in view of FIG. 7A through 7D are merely exemplary. Connecting arm 16 of support frame 10 could be expanded vertically along with first swing frame 20 to produce a more exaggerated movement of lever arm 80. It would be readily apparent to one having ordinary skill in the art that a dimensional increase of all of the components of apparatus 100 would result in a greatly exaggerated movement of lever arm 80, i.e., socket connector 72 of 90° connector 70 being positioned father away from first rotational shaft 81.

The following description should be taken in view of all previous described figures. It should be appreciated that although the pivoting and/or rotatable connected frames of apparatus 100 are generally illustrated to reflect a substantially rectangular frame, that other structural configurations may be contemplated in order to decrease the amount of material required to have a functioning apparatus 100. For example, first swing frame 20 essentially includes four connected members to create a substantially rectangular frame, one could envision first swing frame 20 to alternatively comprise a substantially L-shaped frame, such that there is one horizontal member that comprises through-bore 40 b and one vertical member that comprises through-bore 52 a. In the alternative construction, T-swivel connector 82 would only rotatably connect to alternative first swing frame 20 at through-bore 52 a and support frame 10 would only rotatably connect to alternative first swing 20 at through-bore 40 b. One could envision an alternative support frame 10 that would no longer need second support arm 14. The alternative construction may be advantageous for situations were apparatus 100 was suspended from support arm 12 and a decrease in overall weight would be ideal for moving apparatus 100 into positions for use.

FIG. 9 illustrates a perspective view of walking apparatus 200 comprised of apparatuses 110, 112, and 114 joined together and connected to gear box 130. The description of apparatus 200 should be taken in view of all of the previously described figures. Apparatuses 110, 112, and 114 comprise the same components as circular-angular lever device 100, described supra, with the addition of other components described infra. Lever arm 80 of circular-angular device 110 is threadably connected to connecting aperture 162 a of first walking leg 160 a via securement means 166 a of walking leg 160 a. Securement means 166 a in a preferred embodiment are substantially identical to the threaded pin lock, described supra. First walking leg 160 a is attached to foot 164 a. Although not indicated in FIG. 9 , apparatuses 112 and 114 include the same “walking components” (walking leg 160 a, connecting aperture 162 a, and foot 164 a) as apparatus 110 and are designated with “b” and “c”, respectively. Similarly, second walking leg 160 b and foot 164 b is threadably connected to lever arm 80 of circular-annular device 112, and third walking leg 160 c and foot 164 c is threadably connected to lever arm 80 of circular-angular device 114. As shown, apparatuses 110 and 114 are both in the position shown in FIG. 7C, such that foot 164 a and foot 164 c are in the downward direction that would be contacting a ground surface, and apparatus 112 is in the position shown in FIG. 7A, such that foot 164 b is in the upward direction that would not be contacting a ground surface.

It should be appreciated that legs 160 a, 160 b, 160 c may include spring-loaded components so that there may be a suspension-effect of legs 160 a, 160 b, 160 c when their respective feet contact a ground surface. The feet, 164 a, 164 b, 164 c, may also include spring-loaded components to further increase the shock absorption.

Apparatus 110 has gear shaft 142 of gear 140 secured to second end 81 b of first rotational shaft 81 (not shown). Apparatuses 112, and 114 also have respective gears that are substantially identical to gear 140 that are secured to their respective first rotational shafts. Chain 150 connects all the gears of apparatuses 110, 112, and 114, such that they all move in concert thereby rotating the lever arms of apparatuses 110, 112, and 114, collectively.

In an ideal embodiment, additional apparatuses with positions opposite of apparatuses 110, 112, and 114, reflectively arranged in relation to line R, are joined together and connected via their respective gear box to the open face 130 a of gear box 130. One could envision gear box 130 and an adjacent and reflectively arranged gear box being fixedly secured to face 130 a of gear box 130. One with ordinary skill in the art could envision a reflectively arranged configuration of apparatus 200 in relation to line R (although not shown, one with ordinary skill in the art would ascertain the positional relationships of reflectively arranged apparatuses 110 ₁, 112 ₁, 114 ₁ of apparatus 200 ₁, thusly “1” will designate reflectively arranged components in relation to line R discussed hereafter). For example, open face 130 a of gear box 130 of walking apparatus 200 would be fixedly secured to reflectively arranged open face 130 a ₁ of gear box 130 ₁ of (reflectively arranged) walking apparatus 200 ₁.

The apparatuses directly across from apparatuses 110 and 114, apparatus 110 ₁ and 114 ₁, are in the position shown in FIG. 7A and described supra, whereas the apparatus directly across from apparatus 112, apparatus 112 ₁, is in the position shown in FIG. 7C and described supra. It should be appreciated that the illustration of walking apparatus 200 is merely exemplary. One with ordinary skill in the art would understand that second swing frame 22 and crank frame 30 could be joined to apparatuses 110, 112, 114 (and 110 ₁, 112 ₁, 114 ₁) whereas first rotational shaft 81 is further engaged to universal joint 64 and second rotational shaft 83 would be within through-bore 83 d. In this alternative embodiment, end 83 b of second rotational shaft 83 would be engaged to gear 140 and second swing frames 22 of apparatuses 110, 112, 114 (and 110 ₁, 112 ₁, 114 ₁) would be secured to gear box 130 (and 130 ₁).

Further, the positioning of the walking legs 160 a, 160 b, and 160 c in relation to the walking legs on the reflective apparatuses (110 ₁, 112 ₁, 114 ₁) allows walking apparatus 200 to move in the forward and backward direction, depending on the direction applied to gear 140 and 140 ₁. This movement of six legs is similar to a tripod gait.

However, it should be appreciated that combined walking apparatus 200 and walking apparatus 200 ₁ is not limited to three apparatuses on its respective side, rather that it requires at least three legs on each respective side, such that the combination of six apparatus always has three legs that are contacting a ground surface and three legs that are not contacting a ground surface. In an example of combined walking apparatus 200 and walking apparatus 200 ₁ having four apparatuses on each side, or eight collectively, there would always be four legs that are contacting a ground surface and four legs that are not contacting a ground surface.

Combined walking apparatus 200 and walking apparatus 200 ₁ includes apparatuses 110, 112, 114 (and 110 ₁, 112 ₁, 114 ₁). Thus, gears 140 and 140 ₁ of apparatus 110 and 110 ₁ would both engage a crank-type member at D, preferably in between 142 and 142 ₁, to engage 142 and 142 ₁, respectively. The crank type member could be a motor that would power gears 140 and 140 ₁ and engage chains 150 and 150 ₁ to collectively move the gears of 110, 112, 114 (and 110 ₁, 112 ₁, 114 ₁), respectively.

Thus, it is seen that the objects of the invention are efficiently obtained, although modifications and changes to the invention may be readily imagined by those having ordinary skill in the art, and these changes and modifications are intended to be within the scope of the claims.

REFERENCE NUMBERS

-   10 H-frame/support frame -   12 First support arm -   14 Second support arm -   16 Connecting arm -   20 First swing frame -   22 Second swing frame -   30 Crank frame -   40 First pin of H-frame/support frame 10 -   40′ First end of pin 40 -   40″ Second end of pin 40 -   40 a Through-bore of first support arm 12 -   40 b First through-bore of first swing frame 20 -   41 Groove of pin 40 -   42 Second pin of H-frame/support frame 10 -   42 a through-bore of second support arm 12 -   42 b First through-bore of second swing frame 22 -   44 Third pin of H-frame/support frame 10 -   44 a First through-bore of second support arm 14 -   44 b Second through-bore of first swing frame 20 -   46 Fourth pin of H-frame/support frame 10 -   46 a Second through-bore of second support arm 14 -   46 b Second through-bore of second swing frame 22 -   50 First pin of first swing frame 20 -   50 a First through-bore of first swing frame 20 -   52 Second pin of first swing frame 20 -   52 a Second through-bore of first swing frame 20 -   54 b First pin through-bore of crank frame 30 -   54 First pin of second swing frame 22 -   54 a First through-bore of second swing frame 22 -   56 Second pin of second swing frame 22 -   56 a Second through-bore of second swing frame 22 -   56 b Second pin through-bore of crank frame 30 -   60 Crank -   61 Pin through-bore -   62 Handle of crank 60 -   64 Universal joint -   66 Pin through-bore -   68 Pin through-bore -   70 90° connector -   70 a Rotational shaft through-bore of 90° connector 70 -   70 b Socket connector through-bore of 90° connector 70 -   72 Socket connector -   72 a Threaded shaft of socket connector 72 -   74 Spherical connector of socket connector 72 -   76 First lock nut -   78 Second lock nut -   80 Lever arm -   80 a First end of lever arm 80 -   80 b Rotation end of lever arm 80 -   81 First rotation shaft -   81 a First end of first rotation shaft 81 -   81 b Second end of first rotation shaft 81 -   81 c through-bore of connecting arm 16 -   81 d First connection aperture of universal joint 64 -   82 T-swivel connector -   82 a First lever arm through-bore of T-swivel connector 82 -   82 b Second lever arm through-bore of T-swivel connector 82 -   82 c First pivot through-bore of T-swivel connector 82 -   82 d Second pivot through-bore of T-swivel connector 82 -   83 Second rotation shaft -   83 a First end of second rotation shaft 83 -   83 b Second end of second rotation shaft 83 -   83 c Second connection aperture of universal joint 64 -   83 d Connection through-bore of crank frame 30 -   83 e Connection through-bore of crank 60 -   84 First shaft collar of lever arm 80 -   86 Second shaft collar of lever arm 80 -   90, 92 . . . Threaded pins -   90′ Exposed end of threaded pin 90 -   90 a, 92 a . . . Threaded pin through-bores -   100 Circular-angular lever apparatus -   110, 112 . . . Circular-angular lever apparatus -   120 First connecting arm -   122 Second connecting arm -   130 Gearbox -   130 a Outside face of gearbox 130 -   140 Gear -   142 Gear shaft of gear 140 -   150 Chain -   160 Plurality of walking legs -   160 a First walking leg -   160 b Second walking leg -   160 c Third walking leg -   162 a Connecting aperture of walking leg 160 a -   162 b Connecting aperture of walking leg 160 b -   162 c Connecting aperture of walking leg 160 c -   164 a Foot of walking leg 160 a -   164 b Foot of walking leg 160 b -   164 c Foot of walking leg 160 c -   166 a Securement means of walking leg 160 a -   166 b Securement means of walking leg 160 b -   166 c Securement means of walking leg 160 c -   200 Walking apparatus -   A1 First axis of rotation -   A2 Second axis of rotation -   A3 Third axis of rotation -   A4 Fourth axis of rotation -   A5 Fifth axis of rotation -   D Location of crank-type member -   i1 First intersection -   i2 Second intersection -   L Exposed length of pin 40 -   R Reflection line 

What is claimed is:
 1. An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm, comprising: a first frame; a second frame; a first shaft rotatably connected to said first frame and arranged for rotation about a first axis of rotation; a heim joint fixedly secured to a distal end of said first shaft; a lever having a fulcrum, said lever having a first end and a second end, where a distance between said fulcrum and said first end is less than a distance between said fulcrum and said second end, said first end of said lever rotatably connected to said heim joint; wherein said fulcrum is arranged within said second frame and arranged for pivoting about a second axis of rotation, wherein said second axis of rotation is co-planar with said first axis of rotation, wherein said second frame is rotatably connected to said first frame, said second frame arranged for rotation with respect to said first frame about a third axis of rotation, wherein said third axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, wherein said first, second, and third axes have single point of intersection.
 2. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 1, further comprising a third frame rotatably connected to said first frame, wherein said third frame is rotatably connected to said first frame, said third frame arranged for rotation with respect to said first frame about a fourth axis of rotation, wherein said fourth axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation.
 3. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 2, further comprising a fourth frame pivotably connected to said third frame, wherein said fourth frame arranged for rotation with respect to said third frame about a fifth axis of rotation, wherein said fifth axis of rotation is arranged perpendicularly from said fourth axis of rotation, wherein said fifth axis is co-planar with said first axis of rotation.
 4. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 3, wherein said first, fourth, and fifth axes of rotation have a single point of intersection.
 5. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 4, further comprising a second shaft rotatably connected to said fourth frame and arranged for rotation about a sixth axis of rotation.
 6. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 5, wherein said first, fourth, fifth, and sixth axes of rotation have a single point of intersection.
 7. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 5, wherein said second shaft is pivotably connected to said first shaft.
 8. The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 7, wherein said first shaft is connected to said second shaft via a universal joint.
 9. An apparatus for translating movement of a rotating shaft to rotational movement in three dimensions of a lever arm, comprising: a first frame; a second frame rotatably connected to said first frame; a third frame rotatably connected to said first frame; a fourth frame rotatably connected to said third frame; a first shaft rotatably connected to said first frame and arranged for rotation about a first axis of rotation; a heim joint fixedly secured to a distal end of said first shaft; a lever having a fulcrum, said lever having a first end and a second end, where a distance between said fulcrum and said first end is less than a distance between said fulcrum and said second end, said first end of said lever rotatably connected to said heim joint, wherein said fulcrum is arranged within said second frame and is arranged for pivoting about a second axis of rotation, wherein said second axis of rotation is co-planar with said first axis of rotation, wherein said second frame is rotatably connected to said first frame, said second frame is arranged for rotation with respect to said first frame about a third axis of rotation, wherein said third axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, wherein said first, second, and third axes have single point of intersection; a second shaft rotatably connected to said fourth frame and rotatably connected to said first shaft via a universal joint, said third frame arranged for rotation with respect to said first frame about a fourth axis of rotation, wherein said fourth axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, wherein said fourth frame is arranged for rotation with respect to said third frame about a fifth axis of rotation, wherein said fifth axis of rotation is arranged perpendicularly from said fourth axis of rotation, wherein said fifth axis is co-planar with said first axis of rotation, wherein said second shaft is arranged for rotation about a sixth axis of rotation, wherein said first, fourth, fifth, and sixth axes of rotation have a single point of intersection.
 10. A walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm: a plurality of apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm, each apparatus comprises: a first frame arranged to hold a drive shaft, a second frame rotatably connected to said first frame, said second frame arranged to pivotably hold a follower arm; an extension secured to said drive shaft, said follower arm rotatably connected to said extension at a first end; said drive shaft connected to a gear; and, a leg having a foot, said leg connected to said follower arm at a second end, wherein a first at least three apparatuses are connected via a cross member secured to said first frame; wherein a second at least three apparatuses are connected via a cross member secured to said first frame; said second at least three apparatuses are reflectively arranged across from said first at least three apparatuses; and, wherein said first at least three apparatuses cross member and said second at least three apparatuses cross member are connected via a merging member.
 11. The walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 10, wherein each of said gears of said first at least three circular angular rotation levers are engaged to a chain, and wherein each of said gears of said second at least three circular angular rotation levers are engaged to a chain.
 12. The walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in claim 11, wherein one of said gears of said first at least three circular angular rotation levers is engaged to a shaft, said shaft driven by a motor, and wherein one of said gears of said second at least three circular angular rotation levers is engaged to said shaft, said shaft driven by said motor. 